Related papers: Discrete second-order Euler-Poincar\'e equations. …
The recent interest in structure preserving stochastic Lagrangian and Hamiltonian systems raises questions regarding how such models are to be understood and the principles through which they are to be derived. By considering a…
For a discrete mechanical system on a Lie group $G$ determined by a (reduced) Lagrangian $\ell$ we define a Poisson structure via the pull-back of the Lie-Poisson structure on the dual of the Lie algebra ${\mathfrak g}^*$ by the…
The structure of the Euler-Lagrange equations for a general Lagrangian theory is studied. For these equations we present a reduction procedure to the so-called canonical form. In the canonical form the equations are solved with respect to…
We consider integer-restricted optimal control of systems governed by abstract semilinear evolution equations. This includes the problem of optimal control design for certain distributed parameter systems endowed with multiple actuators,…
We revisit the results on admissible transformations between normal linear systems of second-order ordinary differential equations with an arbitrary number of dependent variables under several appropriate gauges of the arbitrary elements…
It is shown that the Euler-Lagrange equations for a Lagrangian system on a Lie algebroid are obtained as the equations for the critical points of the action functional defined on a Banach manifold of curves. The theory of reduction and the…
A new method is described for solving optimal control problems using direct collocation at Legendre-Gauss-Lobatto points. The approach of this paper employs a polynomial approximation of the right-hand side vector field of the differential…
This paper formulates an optimal control problem for a system of rigid bodies that are connected by ball joints and immersed in an irrotational and incompressible fluid. The rigid bodies can translate and rotate in three-dimensional space,…
We derive and analyze numerical methods for underdamped (kinetic) Langevin dynamics in a domain with elastic reflection at the boundary. First-order approximations are based on an Euler-type scheme incorporating collision-handling at the…
Discretizing variational principles, as opposed to discretizing differential equations, leads to discrete-time analogues of mechanics, and, systematically, to geometric numerical integrators. The phase space of such variational…
In this paper we consider second-order field theories in a variational setting. From the variational principle the Euler-Lagrange equations follow in an unambiguous way, but it is well known that this is not true for the Cartan form. This…
Recent theoretical work has developed the Hamilton's-principle analog of Lie-Poisson Hamiltonian systems defined on semidirect products. The main theoretical results are twofold: (1) Euler-Poincar\'e equations (the Lagrangian analog of…
In this note we describe how some objects from generalized geometry appear in the qualitative analysis and numerical simulation of mechanical systems. In particular we discuss double vector bundles and Dirac structures. It turns out that…
We prove necessary optimality conditions of Euler-Lagrange type for a problem of the calculus of variations with time delays, where the delay in the unknown function is different from the delay in its derivative. Then, a more general…
We consider an optimal control problem constrained by a parabolic partial differential equation (PDE) with Robin boundary conditions. We use a well-posed space-time variational formulation in Lebesgue--Bochner spaces with minimal…
We study higher--order variational derivatives of a generic second--order Lagrangian ${\cal L}={\cal L}(x,\phi,\partial\phi,\partial^2\phi)$ and in this context we discuss the Jacobi equation ensuing from the second variation of the action.…
This chapter presents some numerical methods to solve problems in the fractional calculus of variations and fractional optimal control. Although there are plenty of methods available in the literature, we concentrate mainly on approximating…
We formulate and study the infinite dimensional linear programming (LP) problem associated with the deterministic discrete time long-run average criterion optimal control problem. Along with its dual, this LP problem allows one to…
In this note, we develop the first-order theory of optimal control problems with box constraints on the control. We emphasize the precise modification of Pontryagin's maximum principle when the admissible control set is compact, the…
This paper is devoted to discrete mechanical systems subject to external forces. We introduce a discrete version of systems with Rayleigh-type forces, obtain the equations of motion and characterize the equivalence for these systems.…